CN106514622A - Working method for four-freedom-degree self-stabilizing box body grab bucket based on parallel mechanism - Google Patents
Working method for four-freedom-degree self-stabilizing box body grab bucket based on parallel mechanism Download PDFInfo
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- CN106514622A CN106514622A CN201611115287.8A CN201611115287A CN106514622A CN 106514622 A CN106514622 A CN 106514622A CN 201611115287 A CN201611115287 A CN 201611115287A CN 106514622 A CN106514622 A CN 106514622A
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- Prior art keywords
- freedom
- chuck
- degree
- electric sliding
- hydraulic cylinder
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/003—Program-controlled manipulators having parallel kinematics
- B25J9/0033—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0042—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/04—Tine grabs
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention relates to a working method for a four-freedom-degree self-stabilizing box body grab bucket based on a parallel mechanism. The four-freedom-degree self-stabilizing box body grab bucket comprises the four-freedom-degree parallel mechanism, a fixing plate, four electric sliding rails and four mechanical claws. The four-freedom-degree parallel mechanism is located over the fixing plate and connected with the fixing plate through bolts. The fixing plate is of a square structure. The four electric sliding rails are located on the four vertex angle bisectors of the fixing plate correspondingly and fixedly connected with the fixing plate. The four mechanical claws are installed under the four electric sliding rails correspondingly. According to the working method for the four-freedom-degree self-stabilizing box body grab bucket based on the parallel mechanism, the space motion state of the four-freedom-degree self-stabilizing box body grab bucket is achieved by controlling reciprocating motion of movable sliding blocks on guide sliding rails; four-freedom-degree motion with one-freedom-degree horizontal motion and three-freedom-degree rotation can be achieved in the space through the four-freedom-degree parallel mechanism adopting a 4-CRC mode; the stability of a grabbing box body is improved; and the shaking problem of the box body in the carrying and lifting process is solved.
Description
Technical field
The present invention relates to capture apparatus field, more particularly to a kind of four-degree-of-freedom based on parallel institution is grabbed from steady casing
Bucket.
Background technology
It, to capture the bucket that silt stone and various bulk goods can be opened and closed, is a kind of mainly by two groups in left and right that grab bucket is
Close the folding crawl of bucket or multiple jaws and draw off the suspender of bulk material, grab bucket according to Shape Classification can be divided into mytiliform grab bucket and
Fructus Citri tangerinae lobe is grabbed bucket, and the former is made up of two complete scraper bowls, and the latter is made up of the jaw of three or more than three；According to type of drive
Fluid pressure type grab bucket and mechanical type two big class of grab bucket can be divided into.
As the development of modern logistics, the transport of goods are more and more flourishing, it is loaded using casing more than present goods, it is right
In large cargo equipment then adopt container loading, therefore, port and pier, transport vehicle station and some from the ground such as trade area, casing
Carry all not within minority daily, small box is carried then use a dead lift at present, big casing is carried and adopts fork truck more, is collected
Vanning carrying uses grab bucket and crane, and existing casing is carried lifting and has no professional grab bucket, generally uses claw and grab
Bucket, this kind of grab bucket are very big to damaging on the outside of casing, even destroy sometimes box house article, while grab bucket is coordinated in lifting machine
Under carry out casing carrying, therefore, grab bucket carry casing when easily produce shake and jolt, easily to the thing in casing
Product cause to damage.In consideration of it, the invention provides it is a kind of can damping the special capture apparatus of casing, i.e., it is a kind of to be based on parallel institution
Four-degree-of-freedom grab bucket from steady casing.
The content of the invention
In order to solve the above problems, the present invention provides a kind of four-degree-of-freedom based on parallel institution and grabs bucket from steady casing, its
By controlling the space motion state that move back and forth to realize the present invention of the mobile slide block on directive slide track, using 4-
The four-freedom parallel mechanism of CRC pattern is capable of achieving a translation three in space and rotates four-degree-of-freedom motion altogether, increased this
The stability of bright crawl casing, it is therefore prevented that shake sex chromosome mosaicism of the casing during lifting is carried.
To achieve these goals, the present invention employs the following technical solutions to realize：A kind of four selfs based on parallel institution
Grabbed bucket from steady casing by degree, it is including four-freedom parallel mechanism, fixed plate, four electric sliding rails and four grippers, described
Four-freedom parallel mechanism is located at directly over fixed plate, and is connected using bolt between four-freedom parallel mechanism and fixed plate
Connect；Described fixed plate is square structure, and four electric sliding rails are on four drift angle bisectors of fixed plate and electronic respectively
Slide rail is connected with fixed plate；Four described grippers are separately mounted to immediately below four electric sliding rails.
As a further improvement on the present invention, described four-freedom parallel mechanism includes moving platform, fixed platform, support
Bar, universal joint, mobile slide block and directive slide track；The rounded structure of described moving platform, fixed platform are in rectangular configuration, support bar,
The quantity of mobile slide block and directive slide track is four, and the quantity of universal joint is eight；Four described support bars be located at moving platform and
Between fixed platform, and four support bars are respectively arranged four side of moving platform, and support bar one end is by universal joint and moving platform bottom face
It is connected, the support bar other end is connected with mobile slide block by universal joint；Four described directive slide tracks are respectively along fixed platform
Central axis be fixed on fixed platform before and after both sides, mobile slide block is arranged on directive slide track, existed by controlling mobile slide block
On directive slide track move back and forth realize the present invention space motion state, using 4-CRC patterns four-degree-of-freedom simultaneously
Online structure is capable of achieving a translation three in space and rotates four-degree-of-freedom motion altogether.
As a further improvement on the present invention, described gripper include moving slide block, upper chuck, lower chuck, expansion link,
Upper ear seat, lower ear base and hydraulic cylinder；Described mobile slide block is fixed on upper chuck top end, offers mounting ear on mobile slide block
Hole；It is connected by expansion link between described upper chuck bottom and lower chuck top；Described upper chuck is in triangular shape column
Structure, uniformly offers manhole, is provided with upper bush, and upper bush at the drift angle of upper chuck bottom on upper chuck two side
Internal diameter is slightly larger than expansion link external diameter；Also in triangular shape pillar construction, lower chuck is uniformly offered on two side described lower chuck
Lower manhole, is provided with lower sleeve, and lower sleeve internal diameter is slightly larger than expansion link external diameter, lower chuck bottom at the drift angle of lower chuck top
End is provided with shovel ear, and shovel ear is in sector structure, is provided with gradient at shovel ear front port；Described upper ear seat is fixed on upper chuck
On the lateral wall of bottom, lower ear base is fixed on the lateral wall on lower chuck top, and upper ear seat and lower ear base are Ω type structures, liquid
Cylinder pressure is located between upper ear seat and lower ear base, and hydraulic cylinder bottom is mutually fixed with upper ear seat, and hydraulic cylinder top is connected with lower ear base
Connect.
It is during use, positive first to start electric sliding rail, drive four grippers to flex outward simultaneously by electric sliding rail；So
It is positive afterwards to start hydraulic cylinder, the vertical downward movement of lower chuck is driven by the stretching, extension of hydraulic cylinder, and while realizes whole machinery
The rotation break-in campaign of pawl so that four grippers just recline four turnings of casing, when the shovel ear of lower chuck bottom is reached
When box bottom, then reverse starting electric sliding rail, four grippers are driven simultaneously to contract by electric sliding rail, when upper
Chuck medial wall and lower chuck medial wall stop electric sliding rail when contacting with two lateral walls at box section corner, realize to casing four
The fixation of side, then reverse starting hydraulic cylinder, drive the upward vertical movement of lower chuck by the contraction of hydraulic cylinder, when upper chuck top
End medial surface and lower chuck bottom medial surface stop hydraulic cylinder when contacting with the top and bottom of casing respectively, so as to realize to casing
The fixation of upper and lower side, lifts by crane fixed plate by crane and can be achieved with the lifting to casing and carrying.In lifting handling process,
Its space motion state moved back and forth to realize the present invention by the mobile slide block of control on directive slide track, using 4-
The four-freedom parallel mechanism 1 of CRC pattern is capable of achieving a translation three in space and rotates four-degree-of-freedom motion altogether, increased this
The stability of bright crawl casing, it is therefore prevented that shake sex chromosome mosaicism of the casing during lifting is carried.
As a further improvement on the present invention, described support bar material is stainless steel material, using stainless steel
Support bar can avoid problem of rustiness.
As a further improvement on the present invention, described directive slide track two ends are respectively arranged with postive stop baffle, by leading
Arrange to occur departing from being oriented to when postive stop baffle prevents mobile slide block to be moved back and forth on directive slide track back and forth to slide rail two ends and slide
The phenomenon of rail.
Beneficial effects of the present invention：A kind of four-degree-of-freedom based on parallel institution from steady casing grab bucket with compact conformation,
The features such as simple operation and low manufacture cost, compared with prior art, its by control mobile slide block on directive slide track come
The space motion state moved back and forth to realize the present invention is returned, using the four-freedom parallel mechanism of 4-CRC patterns in space
It is capable of achieving a translation three and rotates four-degree-of-freedom motion altogether, increased the stability of present invention crawl casing, it is therefore prevented that casing is being removed
Shake sex chromosome mosaicism during fortune lifting.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the cooperation schematic diagram of fixed plate of the present invention, four electric sliding rails and four grippers；
Fig. 3 is the dimensional structure diagram of gripper of the present invention；
Fig. 4 is the dimensional structure diagram of four-freedom parallel mechanism of the present invention.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.It should be noted that in the case where not conflicting, embodiment in the application and
Feature in embodiment can be combined with each other.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing, including four
Freedom degree parallel connection mechanism 1,2, four electric sliding rails 3 of fixed plate and four grippers 4, described four-freedom parallel mechanism 1
Directly over fixed plate 2, and it is attached using bolt between four-freedom parallel mechanism 1 and fixed plate 2；Described fixed plate
2 are square structure, four electric sliding rails 3 respectively on four drift angle bisectors of fixed plate 2, and electric sliding rail 3 with it is fixed
Plate 2 is connected；Four described grippers 4 are separately mounted to immediately below four electric sliding rails 3.
As shown in figure 4, described four-freedom parallel mechanism 1 includes moving platform 11, fixed platform 12, support bar 13, universal
Section 14, mobile slide block 15 and directive slide track 16；Described 11 rounded structure of moving platform, fixed platform 12 are in rectangular configuration, support
The quantity of bar 13, mobile slide block 15 and directive slide track 16 is four, and the quantity of universal joint 14 is eight；Four described support bars 13
Between moving platform 11 and fixed platform 12, and four support bars 13 are respectively arranged 11 4 side of moving platform, and 13 one end of support bar leads to
Cross universal joint 14 to be connected with 11 bottom face of moving platform, 13 other end of support bar is connected with mobile slide block 15 by universal joint 14
Connect；Four described directive slide tracks 16 are fixed on the both sides in front and back of fixed platform 12 respectively along the central axis of fixed platform 12, mobile
Slide block 15 is arranged on directive slide track 16, by controlling mobile slide block 15 moving back and forth realizing on directive slide track 16
The space motion state of the present invention, is capable of achieving three turns of a translation in space using the four-freedom parallel mechanism 1 of 4-CRC patterns
Dynamic four-degree-of-freedom motion altogether.
As shown in Figures 2 and 3, described gripper 4 includes moving slide block 41, upper chuck 42, lower chuck 43, expansion link
44th, upper ear seat 45, lower ear base 46 and hydraulic cylinder 47；Described mobile slide block 41 is fixed on 42 top end of upper chuck, mobile slide block
Installation earhole is offered on 41；It is connected by expansion link 44 between described 42 bottom of upper chuck and 43 top of lower chuck；Institute
The upper chuck 42 stated is in triangular shape pillar construction, uniformly offers manhole, 42 bottom of upper chuck on 42 two side of upper chuck
Upper bush is provided with the drift angle of end, and upper bush internal diameter is slightly larger than 44 external diameter of expansion link；Described lower chuck 43 is also in triangular shape
Pillar construction, uniformly offers lower manhole, is provided with lower sleeve at 43 top drift angle of lower chuck on 43 two side of lower chuck,
And lower sleeve internal diameter is slightly larger than 44 external diameter of expansion link, 43 bottom of lower chuck is provided with shovel ear, and shovel ear is in sector structure, shovels ear front end
Gradient is provided with mouthful；Described upper ear seat 45 is fixed on the lateral wall of 42 bottom of upper chuck, and lower ear base 46 is fixed on down
On the lateral wall on 43 top of chuck, upper ear seat 45 and lower ear base 46 are Ω type structures, and hydraulic cylinder 47 is located at upper ear seat 45 with
Between ear mount 46, and 47 bottom of hydraulic cylinder is mutually fixed with upper ear seat 45, and 47 top of hydraulic cylinder is connected with lower ear base 46.
As shown in figure 4, described 13 material of support bar is stainless steel material, can be kept away using the support bar 13 of stainless steel
Exempt from problem of rustiness.
As shown in figure 4, described 16 two ends of directive slide track are respectively arranged with postive stop baffle, by 16 two ends of directive slide track
Arrange and occur departing from showing for directive slide track 16 when postive stop baffle prevents mobile slide block 15 to be moved back and forth on directive slide track 6 back and forth
As.
It is during use, positive first to start electric sliding rail 3, drive four grippers 4 simultaneously to overhanging by electric sliding rail 3
Exhibition；Then it is positive to start hydraulic cylinder 47, the vertical downward movement of lower chuck 43 is driven by the stretching, extension of hydraulic cylinder 47, and it is while real
The now rotation break-in campaign of whole gripper 4 so that four grippers 4 just recline four turnings of casing, when lower chuck 43
When the shovel ear of bottom reaches box bottom, then reverse starting electric sliding rail 3, four grippers 4 are driven by electric sliding rail 3
Simultaneously to contract, stop when 42 medial wall of upper chuck and 43 medial wall of lower chuck are contacted with two lateral walls at box section corner
Electric sliding rail 3, realizes the fixation to four side of casing, then reverse starting hydraulic cylinder 47, drives lower folder by the contraction of hydraulic cylinder 47
The upward vertical movement of set, when 42 top inner side face of upper chuck and 43 bottom medial surface of lower chuck are connect with the top and bottom of casing respectively
Stop hydraulic cylinder 47 when tactile, so as to realize the fixation of the upper and lower side to casing, fixed plate 2 is lifted by crane by crane and be can be achieved with to case
The lifting and carrying of body；In lifting handling process, which passes through to control to move slide block 15 past back and forth on directive slide track 16
The multiple space motion state moved to realize the present invention, can be real in space using the four-freedom parallel mechanism 1 of 4-CRC patterns
An existing translation three rotates four-degree-of-freedom motion altogether, increased the stability of present invention crawl casing, it is therefore prevented that casing is being carried
Shake sex chromosome mosaicism during hanging.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.The claimed scope of the invention is by appending claims and its equivalent
Define.
Claims (1)
1. the method for work that a kind of four-degree-of-freedom based on parallel institution is grabbed bucket from steady casing, the four-degree-of-freedom are grabbed bucket from steady casing
Including four-freedom parallel mechanism, fixed plate, four electric sliding rails and four grippers, it is characterised in that：Described four are freely
Degree parallel institution is located at directly over fixed plate, and is attached using bolt between four-freedom parallel mechanism and fixed plate；Institute
The fixed plate stated is square structure, and four electric sliding rails are respectively on four drift angle bisectors of fixed plate, and electric sliding rail
It is connected with fixed plate；Four described grippers are separately mounted to immediately below four electric sliding rails；Wherein：
Described four-freedom parallel mechanism includes moving platform, fixed platform, support bar, universal joint, mobile slide block and directive slide track；
The rounded structure of described moving platform, fixed platform are in rectangular configuration, and the quantity of support bar, mobile slide block and directive slide track is
Four, the quantity of universal joint is eight；Four described support bars are located between moving platform and fixed platform, and four support bars distinguish cloth
Four side of moving platform is put, support bar one end is connected with moving platform bottom face by universal joint, the support bar other end passes through universal joint
It is connected with mobile slide block；Four described directive slide tracks respectively along the central axis of fixed platform be fixed on fixed platform before and after two
Side, mobile slide block are arranged on directive slide track；
Described gripper includes moving slide block, upper chuck, lower chuck, expansion link, upper ear seat, lower ear base and hydraulic cylinder；It is described
Mobile slide block be fixed on upper chuck top end, offer installation earhole on mobile slide block；Described upper chuck bottom and lower folder
Set is connected by expansion link between top；Described upper chuck in triangular shape pillar construction, uniformly open on two side by upper chuck
Manhole is provided with, upper bush is provided with the drift angle of upper chuck bottom, and upper bush internal diameter is slightly larger than expansion link external diameter；It is described
Lower chuck also be in triangular shape pillar construction, uniformly offer lower manhole, lower chuck top drift angle on lower chuck two side
Place is provided with lower sleeve, and lower sleeve internal diameter is slightly larger than expansion link external diameter, and lower chuck bottom is provided with shovel ear, and shovel ear is in fan-shaped knot
Structure, is provided with gradient at shovel ear front port；Described upper ear seat is fixed on the lateral wall of upper chuck bottom, and lower ear base is fixed
On the lateral wall on lower chuck top, upper ear seat and lower ear base are Ω type structures, hydraulic cylinder be located at upper ear seat and lower ear base it
Between, and hydraulic cylinder bottom mutually fixed with upper ear seat, hydraulic cylinder top is connected with lower ear base；
Described method of work, including：It is positive first to start electric sliding rail, four grippers are driven simultaneously by electric sliding rail
Flex outward；Then it is positive to start hydraulic cylinder, the vertical downward movement of lower chuck is driven by the stretching, extension of hydraulic cylinder, and it is while real
The now rotation break-in campaign of whole gripper so that four grippers just recline four turnings of casing, when lower chuck bottom
Shovel ear when reach box bottom, then reverse starting electric sliding rail, by electric sliding rail drive four grippers simultaneously to
Contract, when upper chuck medial wall and lower chuck medial wall stop electric sliding rail when contacting with two lateral walls at box section corner,
The fixation to four side of casing, then reverse starting hydraulic cylinder is realized, the fortune vertically upward of lower chuck is driven by the contraction of hydraulic cylinder
It is dynamic, when upper chuck top inner side face and lower chuck bottom medial surface stop hydraulic cylinder when contacting with the top and bottom of casing respectively, from
And realize the fixation of the upper and lower side to casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115287.8A CN106514622B (en) | 2015-06-11 | 2015-06-11 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510324889.3A CN104858886B (en) | 2015-06-11 | 2015-06-11 | A four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism |
| CN201611115287.8A CN106514622B (en) | 2015-06-11 | 2015-06-11 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510324889.3A Division CN104858886B (en) | 2015-06-11 | 2015-06-11 | A four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514622A true CN106514622A (en) | 2017-03-22 |
| CN106514622B CN106514622B (en) | 2018-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510324889.3A Active CN104858886B (en) | 2015-06-11 | 2015-06-11 | A four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism |
| CN201611116424.XA Active CN106586826B8 (en) | 2015-06-11 | 2015-06-11 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
| CN201611115287.8A Active CN106514622B (en) | 2015-06-11 | 2015-06-11 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510324889.3A Active CN104858886B (en) | 2015-06-11 | 2015-06-11 | A four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism |
| CN201611116424.XA Active CN106586826B8 (en) | 2015-06-11 | 2015-06-11 | It is a kind of to be grabbed bucket based on the four-degree-of-freedom of parallel institution from steady casing |
Country Status (1)
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| CN (3) | CN104858886B (en) |
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| CN104858886B (en) * | 2015-06-11 | 2016-12-07 | 青岛玉兰祥商务服务有限公司 | A four-degree-of-freedom self-stabilizing box grab based on a parallel mechanism |
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| CN117816424B (en) * | 2024-03-06 | 2024-05-03 | 国网山东省电力公司昌邑市供电公司 | A coating device for producing power supply equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106586826B8 (en) | 2018-01-19 |
| CN106586826A (en) | 2017-04-26 |
| CN106514622B (en) | 2018-12-25 |
| CN104858886A (en) | 2015-08-26 |
| CN106586826B (en) | 2017-12-22 |
| CN104858886B (en) | 2016-12-07 |
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